Performance based monitoring using statistical control charts on multi-robot teams

On typical multi-robot teams, there is an implicit assumption that robots can be trusted to effectively perform assigned tasks. However, reliable performance of team members may not always be a valid assumption. For instance, a robot's performance may deteriorate over time or a robot may not estimate tasks correctly. Traditional health monitoring techniques call attention to an operator or assume a binary classification of either success or failure. Robots that can identify poorly performing team members, as performance deteriorates, can adjust the task assignment process dynamically. This paper investigates the use of statistical process control charts from operations research as a tool for monitoring team member performance as part of a multi-robot task assignment framework.